Node is the fundamental building block of Cyber RT. every module contains and communicates through the node. A module can have different types of communication by defining read/write and/or service/client in a node. More...

#include <node.h>

Collaboration diagram for apollo::cyber::Node:

Public Member Functions
virtual	~Node ()

const std::string &	Name () const
	Get node's name. More...

template<typename MessageT >
auto	CreateWriter (const proto::RoleAttributes &role_attr) -> std::shared_ptr< Writer< MessageT >>
	Create a Writer with specific message type. More...

template<typename MessageT >
auto	CreateWriter (const std::string &channel_name) -> std::shared_ptr< Writer< MessageT >>
	Create a Writer with specific message type. More...

template<typename MessageT >
auto	CreateReader (const std::string &channel_name, const CallbackFunc< MessageT > &reader_func=nullptr) -> std::shared_ptr< cyber::Reader< MessageT >>
	Create a Reader with specific message type with channel name qos and other configs used will be default. More...

template<typename MessageT >
auto	CreateReader (const ReaderConfig &config, const CallbackFunc< MessageT > &reader_func=nullptr) -> std::shared_ptr< cyber::Reader< MessageT >>
	Create a Reader with specific message type with reader config. More...

template<typename MessageT >
auto	CreateReader (const proto::RoleAttributes &role_attr, const CallbackFunc< MessageT > &reader_func=nullptr) -> std::shared_ptr< cyber::Reader< MessageT >>
	Create a Reader object with `RoleAttributes` More...

template<typename Request , typename Response >
auto	CreateService (const std::string &service_name, const typename Service< Request, Response >::ServiceCallback &service_callback) -> std::shared_ptr< Service< Request, Response >>
	Create a Service object with specific `service_name` More...

template<typename Request , typename Response >
auto	CreateClient (const std::string &service_name) -> std::shared_ptr< Client< Request, Response >>
	Create a Client object to request Service with `service_name` More...

void	Observe ()
	Observe all readers' data. More...

void	ClearData ()
	clear all readers' data More...

template<typename MessageT >
auto	GetReader (const std::string &channel_name) -> std::shared_ptr< Reader< MessageT >>
	Get the Reader object that subscribe `channel_name` More...

Friends
template<typename M0 , typename M1 , typename M2 , typename M3 >
class	Component

class	TimerComponent

bool	Init (const char *)

std::unique_ptr< Node >	CreateNode (const std::string &, const std::string &)

Detailed Description

Node is the fundamental building block of Cyber RT. every module contains and communicates through the node. A module can have different types of communication by defining read/write and/or service/client in a node.

Warning: Duplicate name is not allowed in topo objects, such as node, reader/writer, service/clinet in the topo.

Constructor & Destructor Documentation

◆ ~Node()

virtual apollo::cyber::Node::~Node ( )

virtual

Member Function Documentation

◆ ClearData()

void apollo::cyber::Node::ClearData ( )

clear all readers' data

◆ CreateClient()

template<typename Request , typename Response >

auto Node::CreateClient ( const std::string & service_name ) -> std::shared_ptr<Client<Request, Response>>

Create a Client object to request Service with service_name

Template Parameters

Request	Message Type of the Request
Response	Message Type of the Response

Parameters

service_name specific service name to a Service

Returns: std::shared_ptr<Client<Request, Response>> result Client

◆ CreateReader() [1/3]

template<typename MessageT >

auto Node::CreateReader	(	const std::string &	channel_name,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`
	)		-> std::shared_ptr<cyber::Reader<MessageT>>

Create a Reader with specific message type with channel name qos and other configs used will be default.

Template Parameters

MessageT Message Type

Parameters

channel_name	the channel of the reader subscribed.
reader_func	invoked when message receive invoked when the message is received.

Returns: std::shared_ptr<cyber::Reader<MessageT>> result Reader Object

◆ CreateReader() [2/3]

template<typename MessageT >

auto Node::CreateReader	(	const ReaderConfig &	config,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`
	)		-> std::shared_ptr<cyber::Reader<MessageT>>

Create a Reader with specific message type with reader config.

Template Parameters

MessageT Message Type

Parameters

config	instance of `ReaderConfig`, include channel name, qos and pending queue size
reader_func	invoked when message receive

Returns: std::shared_ptr<cyber::Reader<MessageT>> result Reader Object

◆ CreateReader() [3/3]

template<typename MessageT >

auto Node::CreateReader	(	const proto::RoleAttributes &	role_attr,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`
	)		-> std::shared_ptr<cyber::Reader<MessageT>>

Create a Reader object with RoleAttributes

Template Parameters

MessageT Message Type

Parameters

role_attr	instance of `RoleAttributes`, includes channel name, qos, etc.
reader_func	invoked when message receive

Returns: std::shared_ptr<cyber::Reader<MessageT>> result Reader Object

◆ CreateService()

template<typename Request , typename Response >

auto Node::CreateService	(	const std::string &	service_name,
		const typename Service< Request, Response >::ServiceCallback &	service_callback
	)		-> std::shared_ptr<Service<Request, Response>>

Create a Service object with specific service_name

Template Parameters

Request	Message Type of the Request
Response	Message Type of the Response

Parameters

service_name	specific service name to a serve
service_callback	invoked when a service is called

Returns: std::shared_ptr<Service<Request, Response>> result Service

◆ CreateWriter() [1/2]

template<typename MessageT >

auto Node::CreateWriter ( const proto::RoleAttributes & role_attr ) -> std::shared_ptr<Writer<MessageT>>

Create a Writer with specific message type.

Template Parameters

MessageT Message Type

Parameters

role_attr is a protobuf message RoleAttributes, which includes the channel name and other info.

Returns: std::shared_ptr<Writer<MessageT>> result Writer Object

◆ CreateWriter() [2/2]

template<typename MessageT >

auto Node::CreateWriter ( const std::string & channel_name ) -> std::shared_ptr<Writer<MessageT>>

Create a Writer with specific message type.

Template Parameters

MessageT Message Type

Parameters

channel_name the channel name to be published.

Returns: std::shared_ptr<Writer<MessageT>> result Writer Object

◆ GetReader()

template<typename MessageT >

auto Node::GetReader ( const std::string & channel_name ) -> std::shared_ptr<Reader<MessageT>>

Get the Reader object that subscribe channel_name

Template Parameters

MessageT Message Type

Parameters

channel_name channel name

Returns: std::shared_ptr<Reader<MessageT>> result reader

◆ Name()

const std::string& apollo::cyber::Node::Name ( ) const

Get node's name.

Warning: duplicate node name is not allowed in the topo.

◆ Observe()

void apollo::cyber::Node::Observe ( )

Observe all readers' data.

Friends And Related Function Documentation

◆ Component

template<typename M0 , typename M1 , typename M2 , typename M3 >

friend class Component

friend

◆ CreateNode

std::unique_ptr<Node> CreateNode	(	const std::string &	,
		const std::string &
	)

friend

◆ Init

bool Init ( const char * )

friend

◆ TimerComponent

friend class TimerComponent

friend

The documentation for this class was generated from the following file:

cyber/node/node.h

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~Node()

Member Function Documentation

◆ ClearData()

◆ CreateClient()

◆ CreateReader() [1/3]

◆ CreateReader() [2/3]

◆ CreateReader() [3/3]

◆ CreateService()

◆ CreateWriter() [1/2]

◆ CreateWriter() [2/2]

◆ GetReader()

◆ Name()

◆ Observe()

Friends And Related Function Documentation

◆ Component

◆ CreateNode

◆ Init

◆ TimerComponent